“My problems with Roger began when I was at the company for 12 months — I was a first-year reporter,” says Kelly, 45, who joined the company in 2004.

Kelly, who was working at the Washington, D.C. bureau at the time, explains that she was called up to New York for a meeting.

“But the problem with that meeting and with several that happened over the next six months was not only was there legitimate professional advice, but there were grossly inappropriate comments,” says Kelly, noting that Ailes allegedly made “specific comments” about her body, including how he wanted to “see” her.

“It grew more severe over time,” she adds. “He said he knew I must have some ‘very sexy bras’ and he’d like to see me in them.”

“I’m not looking to be salacious, and trust me, this isn’t pleasant for me to discuss,” she says. “But I want people to understand this was real, he did do this, and I was far from the only one.”

In regards to Kelly’s allegations, Ailes’ attorney Susan Estrich previously told PEOPLE in a statement: “Mr. Ailes denies her allegations of sexual harassment or misconduct of any kind.”

Kelly’s appearance on Dr. Phil is set to air Tuesday (check local listings).